dynamictriangulation_int.h

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/*
* Copyright 2015 Autodesk, Inc. All rights reserved.
* Use of this software is subject to the terms of the Autodesk license agreement and any attachments or Appendices thereto provided at the time of installation or download,
* or which otherwise accompanies this software in either electronic or hard copy form, or which is signed by you and accepted by Autodesk.
*/

// Primary contact: JUBA - secondary contact: LASI
#ifndef Navigation_DynamicTriangulation_Integer_H
#define Navigation_DynamicTriangulation_Integer_H

#include "gwnavruntime/navmesh/navmeshtypes.h"
#include "gwnavruntime/containers/collection.h"
#include "gwnavruntime/basesystem/logger.h"

namespace Kaim
{

class DynTriHalfEdge;
class IndexedTriangleSoup2i;
class Triangle3i;

typedef CoordPos AlignedCoordPos;

enum DynamicVertexIntUserDataContent
{
    DTI_UNKNOWN_VERTEX_USERDATA,
    DTI_TRIANGLE_SOUP_VERTEX_TAG_DATA
};
// ----------------------------
// ----- DynamicVertex_Int --------
// ----------------------------
class DynTriVertex
{
    KY_DEFINE_NEW_DELETE_OPERATORS(Stat_Default_Mem)
public:
    DynTriVertex() : m_idx(KyUInt32MAXVAL), m_coordPos(KyInt32MAXVAL, KyInt32MAXVAL), m_altitude(KyFloat32MAXVAL), m_userData(KY_NULL)
    {
        m_outGoingEdgeIdx.Reserve(12);
    }


    KY_INLINE void InsertInOutGoingEdges(KyUInt32 dynamicHalfEdgeIdx)
    {
        KY_ASSERT(m_outGoingEdgeIdx.DoesContain(dynamicHalfEdgeIdx) == false);
        m_outGoingEdgeIdx.PushBack(dynamicHalfEdgeIdx);
        KY_ASSERT(m_outGoingEdgeIdx.DoesContain(dynamicHalfEdgeIdx));
    }

    KY_INLINE void RemoveFromOutGoingEdges(KyUInt32 dynamicHalfEdgeIdx)
    {
        KY_ASSERT(m_outGoingEdgeIdx.DoesContain(dynamicHalfEdgeIdx));
        m_outGoingEdgeIdx.RemoveFirstOccurrence(dynamicHalfEdgeIdx);
        KY_ASSERT(m_outGoingEdgeIdx.DoesContain(dynamicHalfEdgeIdx) == false);
    }

public:
    KyUInt32 m_idx;
    AlignedCoordPos m_coordPos;
    KyFloat32 m_altitude;
    Collection<KyUInt32> m_outGoingEdgeIdx;

    void* m_userData;
};

// ------------------------------
// ----- DynamicTriangle_Int --------
// ------------------------------
class DynTriTriangle
{
    KY_DEFINE_NEW_DELETE_OPERATORS(Stat_Default_Mem)
public:
    DynTriTriangle() : m_idx(KyUInt32MAXVAL), m_edgeIdx(KyUInt32MAXVAL), m_userData(KY_NULL) {}

    void GetLocalTriangle3i(KyUInt32 pixelSize, KyFloat32 rasterPrecision, Triangle3i& triangle3i) const;
public:
    KyUInt32 m_idx;
    KyUInt32 m_edgeIdx; // one edge around the face

    void* m_userData;
};

// ---------------------------
// ----- DynamicHalfEdge_Int -----
// ---------------------------
class DynTriHalfEdge
{
    KY_DEFINE_NEW_DELETE_OPERATORS(Stat_Default_Mem)
public:
    DynTriHalfEdge() : m_idx(KyUInt32MAXVAL), m_startVertexIdx(KyUInt32MAXVAL), m_triangleIdx(KyUInt32MAXVAL),
        m_nextEdgeIdx(KyUInt32MAXVAL), m_pairEdgeIdx(KyUInt32MAXVAL), m_status(HalfEdgeStatus_NotOpen), m_userData(KY_NULL) {}

    enum HalfEdgeStatus
    {
        HalfEdgeStatus_Open = 0,
        HalfEdgeStatus_NotOpen = 1,
        HalfEdgeStatus_Locked = 2,

        HalfEdgeStatus_FORCE32 = 0xFFFFFFFF
    };

    KY_INLINE bool IsABorder() const { return m_pairEdgeIdx == KyUInt32MAXVAL; }
    KY_INLINE bool IsLocked() const { return m_status == HalfEdgeStatus_Locked; }

public:
    KyUInt32 m_idx;
    KyUInt32 m_startVertexIdx;
    KyUInt32 m_triangleIdx;
    KyUInt32 m_nextEdgeIdx;
    KyUInt32 m_pairEdgeIdx;
    HalfEdgeStatus m_status;
    void* m_userData;
};

/*  Instance of this class are returned by DynamicTriangulation_Int::InsertANewVertexInMeshAndUpdateTriangulation
    if m_result == RESULT_NEW_VERTEX_CREATED => m_vertex refers to the new created vertex
    if m_result == RESULT_CLOSE_TO_EXISTING_VERTEX => m_vertex refers to the vertex we are close to
    if m_result == RESULT_CLOSE_TO_BORDER_EDGE => m_ halfEdge refers to the border HalfEdge we are close to
    if m_result == RESULT_NOT_IN_TRIANGLE => no triangle contains input position. No usefull datan, m_vertex and m_halfEdge remains to KY_NULL
    if m_result == RESULT_REFUSED => position refused becaus of floating precision issue (we don't want to create reverse face). No usefull data,  m_vertex and m_halfEdge remains to KY_NULL
*/

class DynTriangulationInsertionResult
{
    KY_DEFINE_NEW_DELETE_OPERATORS(Stat_Default_Mem)

public:

    DynTriangulationInsertionResult() : m_result(RESULT_FORCE32), m_vertexIdx(KyUInt32MAXVAL), m_halfEdgeIdx(KyUInt32MAXVAL) {}

    enum Result
    {
        RESULT_NEW_VERTEX_CREATED = 0,
        RESULT_EXISTING_VERTEX = 1,
        RESULT_ON_A_BORDER_EDGE = 2,
        RESULT_NOT_IN_TRIANGLE = 3,
        RESULT_REFUSED = 4,
        RESULT_FORCE32 = 0xFFFFFFFF
    };

    Result m_result;
    KyUInt32 m_vertexIdx;
    KyUInt32 m_halfEdgeIdx;
};


// --------------------------------
// ----- DynamicTriangulation_Int -----
// --------------------------------
class DynamicTriangulation
{
    KY_DEFINE_NEW_DELETE_OPERATORS(Stat_Default_Mem)
    KY_CLASS_WITHOUT_COPY(DynamicTriangulation)
public:
    KY_INLINE DynamicTriangulation(MemoryHeap* heap) :
        m_triangles(heap),
        m_vertices(heap),
        m_edges(heap), 
        m_edgeIdxToProcess(heap), 
        m_userDataContent(DTI_UNKNOWN_VERTEX_USERDATA)
    {}

    ~DynamicTriangulation() { Clear(); }

    void Clear();


    // mesh Creation
    KyUInt32 AddVertex(const AlignedCoordPos& coordPos, KyFloat32 altitude = KyFloat32MAXVAL);
    KyUInt32 AddTriangle(KyUInt32 v0Idx, KyUInt32 v1Idx, KyUInt32 v2Idx);

    // Use this after calling Resize with good value on m_vertices and m_edges
    void AddVertex(KyUInt32 vertexIdx, const AlignedCoordPos& coordPos, KyFloat32 altitude = KyFloat32MAXVAL);
    //KyUInt32 AddTriangle(KyUInt32 triangleIdx, KyUInt32 v0Idx, KyUInt32 v1Idx, KyUInt32 v2Idx);


    KyResult BuildFromIndexedTriangleSoup(const IndexedTriangleSoup2i* triangulation);
    KyResult BuildIndexedTriangleSoup(IndexedTriangleSoup2i* triangulation);

    // Process the triangulation to get a "Delaunay Like" triangulation
    // This function should be called before inserting new vertices and Updating Triangulation
    void GetABetterTriangulation();

    /*-------------- Functions used for better altitude approximation -------------- */

    // Add a new vertex in the Mesh and triangulate around him
    // return KyUInt32MAXVAL if
    //     - the position isn't in any triangle
    //     - the position is too close to one of the three vertices of the triangle (according to m_squareMinDistFromExistingPoint, distances are in 2D)
    //     - the position is too close to a border edge (according to m_squareMinDistFromBorder, distances are in 2D)
    // If the position is close to an edge (according to m_maxSquareDistToConsiderAPointOnAnEdge, distances are in 2D), the vertex is snapped on the edge
    KyUInt32 InsertANewVertexInMesh(const CoordPos& position, DynTriangulationInsertionResult& result);

    // perform an InsertANewVertexInMesh and update the triangulation to get a "Delauney Like" triangulation
    // if impactedTrianglesIndices is not null, fill it with the indices of modified triangles
    DynTriangulationInsertionResult InsertANewVertexInMeshAndUpdateTriangulation(
        const CoordPos& position, KyArrayDH_POD<KyUInt32>* impactedTrianglesIndices = KY_NULL);

    KY_INLINE void LockEdge(KyUInt32 halfEdgeIdx)
    {
        DynTriHalfEdge& edge = m_edges[halfEdgeIdx];

        if (edge.m_status != DynTriHalfEdge::HalfEdgeStatus_Locked)
        {
            KY_DEBUG_ASSERTN(edge.m_status == DynTriHalfEdge::HalfEdgeStatus_NotOpen ,("Don't change edge status during process"));
            edge.m_status = DynTriHalfEdge::HalfEdgeStatus_Locked;
        }

        if (edge.IsABorder() == false && m_edges[edge.m_pairEdgeIdx].m_status != DynTriHalfEdge::HalfEdgeStatus_Locked)
        {
            KY_DEBUG_ASSERTN(m_edges[edge.m_pairEdgeIdx].m_status == DynTriHalfEdge::HalfEdgeStatus_NotOpen ,("Don't change edge status during process"));
            m_edges[edge.m_pairEdgeIdx].m_status = DynTriHalfEdge::HalfEdgeStatus_Locked;
        }
    }


    void GetLocalTriangle3i(KyUInt32 triangleIdx, KyUInt32 pixelSize, KyFloat32 rasterPrecision, Triangle3i& triangle3i) const;

public: // internal
    KyResult FlipEdge(KyUInt32 halfEdgeIdx);

    void UpdateTriangulationAfterVertexInsertion(KyUInt32 newVertexIdx);

    bool IsEdgeLegal(KyUInt32 halfEdgeIdx);
    bool IsEdgeLegalAfterPointInsertion(KyUInt32 halfEdgeIdx, KyUInt32 newVertexIdx);

    // dynamic mesh modification
    KyUInt32 FindTriangleThatContainsAPosition(const CoordPos& position, DynTriangulationInsertionResult& result);

    void InsertANewVertexInsideATriangle(KyUInt32 newVertexIdx, KyUInt32 triangleIdx);
    void InsertANewVertexInTheMiddleOfAnEdge(KyUInt32 newVertexIdx, KyUInt32 halfEdgeIdx);
    void InsertANewVertexInTheMiddleOfABorderEdge(KyUInt32 newVertexIdx, KyUInt32 halfEdgeIdx);

    void AddToEdgeToProcessIfNotOpen(KyUInt32 halfEdgeIdx);
    void AddToEdgeToProcessIfIllegalAndNotOpen(KyUInt32 halfEdgeIdx);

    static bool IsQuadrilateralConvex(const AlignedCoordPos& a, const AlignedCoordPos& b, const AlignedCoordPos& c, const AlignedCoordPos& d);
private :
    KyUInt32 GetNewDynamicVertex();
    KyUInt32 GetNewDynamicHalfEdge();
    KyUInt32 GetNewDynamicTriangle();

public:
    KyArrayDH<DynTriTriangle> m_triangles;
    KyArrayDH<DynTriVertex> m_vertices;
    KyArrayDH<DynTriHalfEdge> m_edges;

    KyArrayDH_POD<KyUInt32> m_edgeIdxToProcess;

    DynamicVertexIntUserDataContent m_userDataContent;
};


KY_INLINE void DynamicTriangulation::AddVertex(KyUInt32 vertexIdx, const AlignedCoordPos& coordPos, KyFloat32 altitude)
{
    KY_ASSERT(vertexIdx < m_vertices.GetCount());
    KY_LOG_ERROR_IF(((coordPos.x & 0xFFFFFF00) != 0 || (coordPos.y & 0xFFFFFF00) != 0), ("Invalid coordinates : %d - %d", coordPos.x, coordPos.y));
    DynTriVertex& vertex = m_vertices[vertexIdx];

    vertex.m_idx = vertexIdx;
    vertex.m_coordPos = coordPos;
    vertex.m_altitude = altitude;
}
}


#endif //Navigation_DynamicTriangulation_Integer_H